From a4860afd324edab443817f923c2e0ca958a8baa1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Aug 2019 15:13:49 +1000
Subject: [PATCH] AP_Terrain: convert to use AP_Filesystem

---
 libraries/AP_Terrain/AP_Terrain.cpp  | 10 +--------
 libraries/AP_Terrain/AP_Terrain.h    |  3 ++-
 libraries/AP_Terrain/TerrainIO.cpp   | 33 ++++++++++------------------
 libraries/AP_Terrain/TerrainUtil.cpp | 10 +--------
 4 files changed, 15 insertions(+), 41 deletions(-)

diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index 5474e0c8a4..f73b743a46 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -23,15 +23,7 @@
 
 #if AP_TERRAIN_AVAILABLE
 
-#include <assert.h>
-#include <stdio.h>
-#if HAL_OS_POSIX_IO
-#include <unistd.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#endif
-#include <sys/types.h>
-#include <errno.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index 1d1d3ac47f..2e4af813ea 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -17,8 +17,9 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/Location.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
-#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO) && defined(HAL_BOARD_TERRAIN_DIRECTORY)
+#if HAVE_FILESYSTEM_SUPPORT && defined(HAL_BOARD_TERRAIN_DIRECTORY)
 #define AP_TERRAIN_AVAILABLE 1
 #else
 #define AP_TERRAIN_AVAILABLE 0
diff --git a/libraries/AP_Terrain/TerrainIO.cpp b/libraries/AP_Terrain/TerrainIO.cpp
index c17f268a8e..3e32bcaed3 100644
--- a/libraries/AP_Terrain/TerrainIO.cpp
+++ b/libraries/AP_Terrain/TerrainIO.cpp
@@ -21,19 +21,12 @@
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>
+#include <stdio.h>
 #include "AP_Terrain.h"
 
 #if AP_TERRAIN_AVAILABLE
 
-#include <assert.h>
-#include <stdio.h>
-#if HAL_OS_POSIX_IO
-#include <unistd.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <errno.h>
-#endif
-#include <sys/types.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -180,7 +173,7 @@ void AP_Terrain::open_file(void)
     // create directory if need be
     if (!directory_created) {
         *p = 0;
-        directory_created = !mkdir(file_path, 0755);
+        directory_created = !AP::FS().mkdir(file_path);
         *p = '/';
 
         if (!directory_created) {
@@ -196,13 +189,9 @@ void AP_Terrain::open_file(void)
     }
 
     if (fd != -1) {
-        ::close(fd);
+        AP::FS().close(fd);
     }
-#if HAL_OS_POSIX_IO
-    fd = ::open(file_path, O_RDWR|O_CREAT|O_CLOEXEC, 0644);
-#else
-    fd = ::open(file_path, O_RDWR|O_CREAT|O_CLOEXEC);
-#endif
+    fd = AP::FS().open(file_path, O_RDWR|O_CREAT);
     if (fd == -1) {
 #if TERRAIN_DEBUG
         hal.console->printf("Open %s failed - %s\n",
@@ -236,12 +225,12 @@ void AP_Terrain::seek_offset(void)
 
     uint32_t file_offset = (east_blocks * block.grid_idx_x + 
                             block.grid_idx_y) * sizeof(union grid_io_block);
-    if (::lseek(fd, file_offset, SEEK_SET) != (off_t)file_offset) {
+    if (AP::FS().lseek(fd, file_offset, SEEK_SET) != (off_t)file_offset) {
 #if TERRAIN_DEBUG
         hal.console->printf("Seek %lu failed - %s\n",
                             (unsigned long)file_offset, strerror(errno));
 #endif
-        ::close(fd);
+        AP::FS().close(fd);
         fd = -1;
         io_failure = true;
     }
@@ -259,16 +248,16 @@ void AP_Terrain::write_block(void)
 
     disk_block.block.crc = get_block_crc(disk_block.block);
 
-    ssize_t ret = ::write(fd, &disk_block, sizeof(disk_block));
+    ssize_t ret = AP::FS().write(fd, &disk_block, sizeof(disk_block));
     if (ret  != sizeof(disk_block)) {
 #if TERRAIN_DEBUG
         hal.console->printf("write failed - %s\n", strerror(errno));
 #endif
-        ::close(fd);
+        AP::FS().close(fd);
         fd = -1;
         io_failure = true;
     } else {
-        ::fsync(fd);
+        AP::FS().fsync(fd);
 #if TERRAIN_DEBUG
         printf("wrote block at %ld %ld ret=%d mask=%07llx\n",
                (long)disk_block.block.lat,
@@ -292,7 +281,7 @@ void AP_Terrain::read_block(void)
     int32_t lat = disk_block.block.lat;
     int32_t lon = disk_block.block.lon;
 
-    ssize_t ret = ::read(fd, &disk_block, sizeof(disk_block));
+    ssize_t ret = AP::FS().read(fd, &disk_block, sizeof(disk_block));
     if (ret != sizeof(disk_block) || 
         disk_block.block.lat != lat || 
         disk_block.block.lon != lon ||
diff --git a/libraries/AP_Terrain/TerrainUtil.cpp b/libraries/AP_Terrain/TerrainUtil.cpp
index 86e86d5208..dbb6278de5 100644
--- a/libraries/AP_Terrain/TerrainUtil.cpp
+++ b/libraries/AP_Terrain/TerrainUtil.cpp
@@ -25,15 +25,7 @@
 
 #if AP_TERRAIN_AVAILABLE
 
-#include <assert.h>
-#include <stdio.h>
-#if HAL_OS_POSIX_IO
-#include <unistd.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#endif
-#include <sys/types.h>
-#include <errno.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
 extern const AP_HAL::HAL& hal;